NDLI: Speeding-up multi-robot exploration by considering semantic place information

Content Provider	IEEE Xplore Digital Library
Author	Stachniss, C. Mozos, O.M. Burgard, W.
Copyright Year	2006
Description	Author affiliation: Dept. of Comput. Sci., Freiburg Univ. (Stachniss, C.; Mozos, O.M.; Burgard, W.)
Abstract	In this paper, we consider the problem of exploring an unknown environment with a team of mobile robots. One of the key issues in multi-robot exploration is how to assign target locations to the individual robots. To better distribute the robots over the environment and to avoid redundant work, we take into account the type of place a potential target is located in (e.g., a corridor or a room). To determine the type of a place, we apply a classifier learned with AdaBoost which additionally considers spatial dependencies between nearby locations. Our approach to incorporate the type of places in the coordination of the robots has been implemented and tested in different environments. The experiments demonstrate that our system effectively distributes the robots over the environment and allows them to accomplish their mission faster compared to approaches that ignore the semantic place labels
Sponsorship	IEEE Robotics and Autom. Soc
Starting Page	1692
Ending Page	1697
File Size	239027
Page Count	6
File Format	PDF
ISBN	0780395050
ISSN	10504729
DOI	10.1109/ROBOT.2006.1641950
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-05-15
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robot kinematics Robot sensing systems Mobile robots Interference Collaboration Computer science Testing Reconnaissance Cleaning Collaborative work
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
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9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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